特異姿勢を考慮した冗長マニピュレータの制御

—第3報: 手首特異姿勢を考慮した制御—

抄録

In this paper, we propose a new control scheme of a robot in its singular configurations for human robot coordination referred to as the Singular Configuration Control (SCC). The scheme controls the manipulator in its singular configurations by appropriately selecting a solution of the inverse kinematics according to the manipulator’s configuration so that the manipulator could move even in its singular configurations without stopping the motion. The proposed control algorithm is applied to MR Helper and the experimental results illustrate the validity of the Singular Configuration Control.